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nudged 0.139m", "score": 0.0}, {"step": 73, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'spatula'", "score": 0.0}, {"step": 127, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'spatula' (target objects: ['wooden_spoons'])", "score": 0.0}, {"step": 137, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 149, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 151, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'spatula'", "score": 0.0}, {"step": 243, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 243, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=wooden_spoons). advanced 1 step(s) to step 1 for wooden_spoons.", "score": 0.0}, {"step": 246, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'spatula' nudged 0.065m", "score": 0.0}, {"step": 347, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 397, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 397, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=wooden_spoons). regressing to step 0 for wooden_spoons.", "score": 0.0}, {"step": 398, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=wooden_spoons). advanced 1 step(s) to step 1 for wooden_spoons.", "score": 0.0}, {"step": 403, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'spatula' nudged 0.250m", "score": 0.0}, {"step": 403, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'storage_box' nudged 0.098m", "score": 0.0}, {"step": 410, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'lemon_02' nudged 0.105m", "score": 0.0}, {"step": 412, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'orange_02' nudged 0.111m", "score": 0.0}, {"step": 443, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 443, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}]} \ No newline at end of file diff --git a/pi0.5/2026-09-29_11-23-29_pi05/WoodSpatulaToBowlTask/log_0_env2.json b/pi0.5/2026-09-29_11-23-29_pi05/WoodSpatulaToBowlTask/log_0_env2.json new file mode 100644 index 0000000000000000000000000000000000000000..9efcfca811b9dbf7d3297a3743bf3874a19bc951 --- /dev/null +++ b/pi0.5/2026-09-29_11-23-29_pi05/WoodSpatulaToBowlTask/log_0_env2.json @@ -0,0 +1 @@ +{"schema_version": 2, "dt": 0.06666666666666667, "task": "WoodSpatulaToBowlTask", "env_id": 2, "run": 0, "success": false, "final_step": 900, "events": [{"step": 10, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'lemon_02' nudged 0.402m", "score": 0.0}, {"step": 89, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'spatula'", "score": 0.0}, {"step": 126, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=wooden_spoons). advanced 1 step(s) to step 1 for wooden_spoons.", "score": 0.0}, {"step": 127, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 127, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=wooden_spoons). regressing to step 0 for wooden_spoons.", "score": 0.0}, {"step": 181, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 182, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=wooden_spoons). advanced 1 step(s) to step 1 for wooden_spoons.", "score": 0.0}, {"step": 195, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 195, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=wooden_spoons). regressing to step 0 for wooden_spoons.", "score": 0.0}, {"step": 196, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 197, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=wooden_spoons). advanced 1 step(s) to step 1 for wooden_spoons.", "score": 0.0}, {"step": 238, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 238, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=wooden_spoons). regressing to step 0 for wooden_spoons.", "score": 0.0}, {"step": 257, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 266, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 272, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 336, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 544, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 684, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'redonion'", "score": 0.0}, {"step": 688, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'redonion' (target objects: ['wooden_spoons'])", "score": 0.0}, {"step": 721, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'redonion'", "score": 0.0}, {"step": 734, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'redonion' nudged 0.159m", "score": 0.0}, {"step": 822, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 849, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'wooden_bowl' (target objects: ['wooden_spoons'])", "score": 0.0}, {"step": 849, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'wooden_bowl'", "score": 0.0}, {"step": 871, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'wooden_bowl'", "score": 0.0}]} \ No newline at end of file diff --git a/pi0.5/2026-09-29_11-23-29_pi05/WoodSpatulaToBowlTask/log_0_env3.json b/pi0.5/2026-09-29_11-23-29_pi05/WoodSpatulaToBowlTask/log_0_env3.json new file mode 100644 index 0000000000000000000000000000000000000000..5137e2b6740856bb6c6a0609608863712a2bb850 --- /dev/null +++ b/pi0.5/2026-09-29_11-23-29_pi05/WoodSpatulaToBowlTask/log_0_env3.json @@ -0,0 +1 @@ +{"schema_version": 2, "dt": 0.06666666666666667, "task": "WoodSpatulaToBowlTask", "env_id": 3, "run": 0, "success": true, "final_step": 496, "events": [{"step": 3, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'lemon_02' nudged 0.125m", "score": 0.0}, {"step": 9, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'lemon_01' nudged 0.063m", "score": 0.0}, {"step": 23, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=wooden_spoons). advanced 1 step(s) to step 1 for wooden_spoons.", "score": 0.0}, {"step": 31, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 31, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=wooden_spoons). regressing to step 0 for wooden_spoons.", "score": 0.0}, {"step": 32, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=wooden_spoons). advanced 1 step(s) to step 1 for wooden_spoons.", "score": 0.0}, {"step": 33, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 33, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=wooden_spoons). regressing to step 0 for wooden_spoons.", "score": 0.0}, {"step": 34, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=wooden_spoons). advanced 1 step(s) to step 1 for wooden_spoons.", "score": 0.0}, {"step": 35, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 35, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=wooden_spoons). regressing to step 0 for wooden_spoons.", "score": 0.0}, {"step": 52, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 246, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 247, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=wooden_spoons). advanced 1 step(s) to step 1 for wooden_spoons.", "score": 0.0}, {"step": 269, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 365, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 365, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=wooden_spoons). regressing to step 0 for wooden_spoons.", "score": 0.0}, {"step": 366, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=wooden_spoons). advanced 1 step(s) to step 1 for wooden_spoons.", "score": 0.0}, {"step": 367, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 367, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=wooden_spoons). regressing to step 0 for wooden_spoons.", "score": 0.0}, {"step": 368, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=wooden_spoons). advanced 1 step(s) to step 1 for wooden_spoons.", "score": 0.0}, {"step": 369, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 369, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=wooden_spoons). regressing to step 0 for wooden_spoons.", "score": 0.0}, {"step": 370, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=wooden_spoons). advanced 1 step(s) to step 1 for wooden_spoons.", "score": 0.0}, {"step": 377, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 377, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=wooden_spoons). regressing to step 0 for wooden_spoons.", "score": 0.0}, {"step": 418, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 421, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=wooden_spoons). advanced 1 step(s) to step 1 for wooden_spoons.", "score": 0.0}, {"step": 423, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 423, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=wooden_spoons). regressing to step 0 for wooden_spoons.", "score": 0.0}, {"step": 425, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=wooden_spoons). advanced 1 step(s) to step 1 for wooden_spoons.", "score": 0.0}, {"step": 437, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 437, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=wooden_spoons). regressing to step 0 for wooden_spoons.", "score": 0.0}, {"step": 438, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=wooden_spoons). advanced 1 step(s) to step 1 for wooden_spoons.", "score": 0.0}, {"step": 440, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 496, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 496, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}]} \ No newline at end of file diff --git a/pi0.5/2026-09-29_11-23-29_pi05/WoodSpatulaToBowlTask/log_0_env4.json b/pi0.5/2026-09-29_11-23-29_pi05/WoodSpatulaToBowlTask/log_0_env4.json new file mode 100644 index 0000000000000000000000000000000000000000..d8d23b1040539d9b692e0a09f8cc88d0a6e7923f --- /dev/null +++ b/pi0.5/2026-09-29_11-23-29_pi05/WoodSpatulaToBowlTask/log_0_env4.json @@ -0,0 +1 @@ +{"schema_version": 2, "dt": 0.06666666666666667, "task": "WoodSpatulaToBowlTask", "env_id": 4, "run": 0, "success": false, "final_step": 900, "events": [{"step": 9, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'lemon_01'", "score": 0.0}, {"step": 11, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'lemon_02'", "score": 0.0}, {"step": 14, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'lemon_01' displaced 0.859m", "score": 0.0}, {"step": 20, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'lemon_02' displaced 0.900m", "score": 0.0}, {"step": 62, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 527, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}]} \ No newline at end of file diff --git a/pi0.5/2026-09-29_11-23-29_pi05/WoodSpatulaToBowlTask/log_0_env5.json b/pi0.5/2026-09-29_11-23-29_pi05/WoodSpatulaToBowlTask/log_0_env5.json new file mode 100644 index 0000000000000000000000000000000000000000..5930ca14b81a8a4b21935613e5441f0309183cfb --- /dev/null +++ b/pi0.5/2026-09-29_11-23-29_pi05/WoodSpatulaToBowlTask/log_0_env5.json @@ -0,0 +1 @@ +{"schema_version": 2, "dt": 0.06666666666666667, "task": "WoodSpatulaToBowlTask", "env_id": 5, "run": 0, "success": false, "final_step": 900, "events": [{"step": 5, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'lemon_02' nudged 0.139m", "score": 0.0}, {"step": 17, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 221, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 221, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=wooden_spoons). advanced 1 step(s) to step 1 for wooden_spoons.", "score": 0.0}, {"step": 222, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 222, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=wooden_spoons). regressing to step 0 for wooden_spoons.", "score": 0.0}, {"step": 225, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=wooden_spoons). advanced 1 step(s) to step 1 for wooden_spoons.", "score": 0.0}, {"step": 226, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 226, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=wooden_spoons). regressing to step 0 for wooden_spoons.", "score": 0.0}, {"step": 312, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 400, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 497, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 527, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 587, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 594, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'wooden_bowl' (target objects: ['wooden_spoons'])", "score": 0.0}, {"step": 594, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'wooden_bowl'", "score": 0.0}, {"step": 595, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'wooden_bowl'", "score": 0.0}, {"step": 618, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 636, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 707, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 751, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'storage_box'", "score": 0.0}, {"step": 840, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 841, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'storage_box' (target objects: ['wooden_spoons'])", "score": 0.0}, {"step": 854, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'storage_box'", "score": 0.0}, {"step": 867, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'spatula' nudged 0.100m", "score": 0.0}]} \ No newline at end of file diff --git a/pi0.5/2026-09-29_11-23-29_pi05/WoodSpatulaToBowlTask/log_0_env6.json b/pi0.5/2026-09-29_11-23-29_pi05/WoodSpatulaToBowlTask/log_0_env6.json new file mode 100644 index 0000000000000000000000000000000000000000..73b98afd3266faad888d7c3a82e1e1daee059aab --- /dev/null +++ b/pi0.5/2026-09-29_11-23-29_pi05/WoodSpatulaToBowlTask/log_0_env6.json @@ -0,0 +1 @@ +{"schema_version": 2, "dt": 0.06666666666666667, "task": "WoodSpatulaToBowlTask", "env_id": 6, "run": 0, "success": false, "final_step": 900, "events": [{"step": 6, "code": 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Best progress: object_grabbed(object=orange_01) (step 1/2)"} +{"env_name": "FruitsMovingTask", "task_name": "FruitsMovingTask", "run_name": "FruitsMovingTask_0", "run": 0, "episode": 3, "env_id": 3, "policy": "pi05", "instruction": "Move an orange to the white bowl", "attributes": ["color", "simple"], "success": false, "episode_step": 900, "duration": 60.0, "dt": 0.06666666666666667, "metrics": {"ee_sparc": -7.046634397332978, "joint_sparc_mean": -12.080914414966314, "ee_isj": 538.2563917420764, "joint_isj": 12714.610683129657, "ee_path_length": 3.5003488901274475, "joint_rmse_mean": 0.01740342771782539, "ee_speed_max": 0.32073360681533813, "ee_speed_mean": 0.05579649284482002}, "events": {"OBJECT_BUMPED": 5, "TARGET_OBJECT_DROPPED": 7, "GRIPPER_FULLY_CLOSED": 4, "WRONG_OBJECT_GRABBED": 7, "GRIPPER_HIT_OBJECT": 2, "wrong_objects_grabbed": ["pumpkinlarge", "pumpkinsmall", "pumpkinsmall", "pumpkinsmall", "pumpkinsmall", "pumpkinsmall", "pumpkinlarge"]}, "instruction_type": "default", "timing": {"policy_inference_s": 163.782, "policy_inference_avg_ms": 182.0, "env_step_s": 842.422, "env_step_avg_ms": 936.0, "video_write_s": 77.486, "video_write_avg_ms": 86.1, "wall_total_s": 1083.69, "it_per_sec": 0.83}, "score": 0.0, "reason": "No object completed. Best progress: object_grabbed(object=orange_01) (step 1/2)"} +{"env_name": "FruitsMovingTask", "task_name": "FruitsMovingTask", "run_name": "FruitsMovingTask_0", "run": 0, "episode": 4, "env_id": 4, "policy": "pi05", "instruction": "Move an orange to the white bowl", "attributes": ["color", "simple"], "success": false, "episode_step": 900, "duration": 60.0, "dt": 0.06666666666666667, "metrics": {"ee_sparc": -8.492129534675243, "joint_sparc_mean": -11.436118792290456, "ee_isj": 397.9091092711206, "joint_isj": 6980.679324031296, "ee_path_length": 2.6948434636323837, "joint_rmse_mean": 0.015889740061132748, "ee_speed_max": 0.19745804369449615, "ee_speed_mean": 0.042016588151454926}, "events": {"OBJECT_OUT_OF_SCENE": 2, "OBJECT_MOVED": 2, "GRIPPER_HIT_OBJECT": 2, "WRONG_OBJECT_GRABBED": 2, "GRIPPER_FULLY_CLOSED": 2, "OBJECT_BUMPED": 4, "wrong_objects_grabbed": ["pumpkinlarge", "pumpkinlarge"]}, "instruction_type": "default", "timing": {"policy_inference_s": 163.782, "policy_inference_avg_ms": 182.0, "env_step_s": 842.422, "env_step_avg_ms": 936.0, "video_write_s": 77.486, "video_write_avg_ms": 86.1, "wall_total_s": 1083.69, "it_per_sec": 0.83}, "score": 0.0, "reason": "No object completed. Best progress: object_grabbed(object=orange_01) (step 1/2)"} +{"env_name": "FruitsMovingTask", "task_name": "FruitsMovingTask", "run_name": "FruitsMovingTask_0", "run": 0, "episode": 5, "env_id": 5, "policy": "pi05", "instruction": "Move an orange to the white bowl", "attributes": ["color", "simple"], "success": false, "episode_step": 900, "duration": 60.0, "dt": 0.06666666666666667, "metrics": {"ee_sparc": -6.465501452588885, "joint_sparc_mean": -10.128959981737012, "ee_isj": 695.0849182190866, "joint_isj": 13871.351243158864, "ee_path_length": 4.3707431189038815, "joint_rmse_mean": 0.02069491482183865, "ee_speed_max": 0.30076608061790466, "ee_speed_mean": 0.06914590299129486}, "events": {"OBJECT_BUMPED": 7, "WRONG_OBJECT_GRABBED": 9, "GRIPPER_HIT_OBJECT": 4, "MULTIPLE_OBJECTS_GRABBED": 1, "GRIPPER_FULLY_CLOSED": 6, "wrong_objects_grabbed": ["redonion", "pumpkinlarge", "pumpkinlarge", "pumpkinlarge", "pumpkinsmall", "pumpkinsmall", "pumpkinsmall", "pumpkinsmall", "pumpkinsmall"]}, "instruction_type": "default", "timing": {"policy_inference_s": 163.782, "policy_inference_avg_ms": 182.0, "env_step_s": 842.422, "env_step_avg_ms": 936.0, "video_write_s": 77.486, "video_write_avg_ms": 86.1, "wall_total_s": 1083.69, "it_per_sec": 0.83}, "score": 0.0, "reason": "No object completed. Best progress: object_grabbed(object=orange_01) (step 1/2)"} +{"env_name": "FruitsMovingTask", "task_name": "FruitsMovingTask", "run_name": "FruitsMovingTask_0", "run": 0, "episode": 6, "env_id": 6, "policy": "pi05", "instruction": "Move an orange to the white bowl", "attributes": ["color", "simple"], "success": false, "episode_step": 900, "duration": 60.0, "dt": 0.06666666666666667, "metrics": {"ee_sparc": -6.642059072205221, "joint_sparc_mean": -8.739647468155963, "ee_isj": 650.505393483141, "joint_isj": 13614.400478602587, "ee_path_length": 3.2383463232946372, "joint_rmse_mean": 0.022289560288884847, "ee_speed_max": 0.21705271303653717, "ee_speed_mean": 0.05189654976129532}, "events": {"GRIPPER_FULLY_CLOSED": 4, "OBJECT_BUMPED": 11, "GRIPPER_HIT_OBJECT": 2, "WRONG_OBJECT_GRABBED": 6, "wrong_objects_grabbed": ["pumpkinsmall", "pumpkinsmall", "pumpkinsmall", "pumpkinsmall", "pumpkinsmall", "pumpkinlarge"]}, "instruction_type": "default", "timing": {"policy_inference_s": 163.782, "policy_inference_avg_ms": 182.0, "env_step_s": 842.422, "env_step_avg_ms": 936.0, "video_write_s": 77.486, "video_write_avg_ms": 86.1, "wall_total_s": 1083.69, "it_per_sec": 0.83}, "score": 0.0, "reason": "No object completed. Best progress: object_grabbed(object=orange_01) (step 1/2)"} +{"env_name": "FruitsMovingTask", "task_name": "FruitsMovingTask", "run_name": "FruitsMovingTask_0", "run": 0, "episode": 7, "env_id": 7, "policy": "pi05", "instruction": "Move an orange to the white bowl", "attributes": ["color", "simple"], "success": false, "episode_step": 900, "duration": 60.0, "dt": 0.06666666666666667, "metrics": {"ee_sparc": -6.5513334618029395, "joint_sparc_mean": -9.820281980204417, "ee_isj": 431.40499681282154, "joint_isj": 6361.644778255782, "ee_path_length": 3.0473917321722617, "joint_rmse_mean": 0.013625229087976667, "ee_speed_max": 0.19222688674926758, "ee_speed_mean": 0.048952873796224594}, "events": {"OBJECT_BUMPED": 5, "WRONG_OBJECT_GRABBED": 4, "GRIPPER_HIT_OBJECT": 2, "GRIPPER_FULLY_CLOSED": 2, "wrong_objects_grabbed": ["pumpkinlarge", "pumpkinlarge", "pumpkinlarge", "pumpkinsmall"]}, "instruction_type": "default", "timing": {"policy_inference_s": 163.782, "policy_inference_avg_ms": 182.0, "env_step_s": 842.422, "env_step_avg_ms": 936.0, "video_write_s": 77.486, "video_write_avg_ms": 86.1, "wall_total_s": 1083.69, "it_per_sec": 0.83}, "score": 0.0, "reason": "No object completed. Best progress: object_grabbed(object=orange_01) (step 1/2)"} +{"env_name": "FruitsMovingTask", "task_name": "FruitsMovingTask", "run_name": "FruitsMovingTask_0", "run": 0, "episode": 8, "env_id": 8, "policy": "pi05", "instruction": "Move an orange to the white bowl", "attributes": ["color", "simple"], "success": false, "episode_step": 900, "duration": 60.0, "dt": 0.06666666666666667, "metrics": {"ee_sparc": -5.248441657729751, "joint_sparc_mean": -8.768192763303524, "ee_isj": 609.0077510553692, "joint_isj": 10327.15904327461, "ee_path_length": 3.1812497497642935, "joint_rmse_mean": 0.017439638316273872, "ee_speed_max": 0.27834632992744446, "ee_speed_mean": 0.050210971385240555}, "events": {"OBJECT_BUMPED": 4, "WRONG_OBJECT_GRABBED": 3, "GRIPPER_HIT_OBJECT": 1, "GRIPPER_FULLY_CLOSED": 3, "wrong_objects_grabbed": ["pumpkinlarge", "pumpkinlarge", "pumpkinlarge"]}, "instruction_type": "default", "timing": {"policy_inference_s": 163.782, "policy_inference_avg_ms": 182.0, "env_step_s": 842.422, "env_step_avg_ms": 936.0, "video_write_s": 77.486, "video_write_avg_ms": 86.1, "wall_total_s": 1083.69, "it_per_sec": 0.83}, "score": 0.0, "reason": "No object completed. Best progress: object_grabbed(object=orange_01) (step 1/2)"} +{"env_name": "FruitsMovingTask", "task_name": "FruitsMovingTask", "run_name": "FruitsMovingTask_0", "run": 0, "episode": 9, "env_id": 9, "policy": "pi05", "instruction": "Move an orange to the white bowl", "attributes": ["color", "simple"], "success": false, "episode_step": 900, "duration": 60.0, "dt": 0.06666666666666667, "metrics": {"ee_sparc": -4.213032923891724, "joint_sparc_mean": -8.612346242900834, "ee_isj": 770.8259630983833, "joint_isj": 10563.643288749287, "ee_path_length": 3.536091228811814, "joint_rmse_mean": 0.01937987817386116, "ee_speed_max": 0.27812886238098145, "ee_speed_mean": 0.05588880926370621}, "events": {"OBJECT_BUMPED": 4, "GRIPPER_FULLY_CLOSED": 2, "WRONG_OBJECT_GRABBED": 15, "GRIPPER_HIT_OBJECT": 5, "wrong_objects_grabbed": ["redonion", "redonion", "redonion", "pumpkinlarge", "spatula", "storage_box", "storage_box", "storage_box", "storage_box", "storage_box", "storage_box", "pumpkinsmall", "pumpkinsmall", "pumpkinsmall", "pumpkinsmall"]}, "instruction_type": "default", "timing": {"policy_inference_s": 163.782, "policy_inference_avg_ms": 182.0, "env_step_s": 842.422, "env_step_avg_ms": 936.0, "video_write_s": 77.486, "video_write_avg_ms": 86.1, "wall_total_s": 1083.69, "it_per_sec": 0.83}, "score": 0.0, "reason": "No object completed. Best progress: object_grabbed(object=orange_01) (step 1/2)"} +{"env_name": "KeyboardOutOfBinTask", "task_name": "KeyboardOutOfBinTask", "run_name": "KeyboardOutOfBinTask_0", "run": 0, "episode": 0, "env_id": 0, "policy": "pi05", "instruction": "Take the keyboard out of the bin and put it on the table", "attributes": ["spatial", "simple"], "success": true, "episode_step": 788, "duration": 52.53333333333333, "dt": 0.06666666666666667, "metrics": {"ee_sparc": -8.837379191154294, "joint_sparc_mean": -13.102895100056173, "ee_isj": 676.5122706849045, "joint_isj": 27697.32448306273, "ee_path_length": 2.395822226872, "joint_rmse_mean": 0.019877016892294593, "ee_speed_max": 0.2654052972793579, "ee_speed_mean": 0.0441347099840641}, "events": {"GRIPPER_FULLY_CLOSED": 3, "TARGET_OBJECT_DROPPED": 4}, "instruction_type": "default", "timing": {"policy_inference_s": 161.57, "policy_inference_avg_ms": 179.5, "env_step_s": 644.303, "env_step_avg_ms": 715.9, "video_write_s": 77.344, "video_write_avg_ms": 85.9, "wall_total_s": 883.217, "it_per_sec": 1.02}, "score": 1.0, "reason": "Completed subtask 'pick_and_place_on_surface' 1/1"} +{"env_name": "KeyboardOutOfBinTask", "task_name": "KeyboardOutOfBinTask", "run_name": "KeyboardOutOfBinTask_0", "run": 0, "episode": 1, "env_id": 1, "policy": "pi05", "instruction": "Take the keyboard out of the bin and put it on the table", "attributes": ["spatial", "simple"], "success": false, "episode_step": 900, "duration": 60.0, "dt": 0.06666666666666667, "metrics": {"ee_sparc": -7.725414945420921, "joint_sparc_mean": -12.316423830776346, "ee_isj": 496.4763139441517, "joint_isj": 15609.61825713088, "ee_path_length": 1.9542893795117011, "joint_rmse_mean": 0.015525044057159642, "ee_speed_max": 0.17111420631408691, "ee_speed_mean": 0.03196214884519577}, "events": {"TARGET_OBJECT_DROPPED": 17, "GRIPPER_FULLY_CLOSED": 5}, "instruction_type": "default", "timing": {"policy_inference_s": 161.57, "policy_inference_avg_ms": 179.5, "env_step_s": 644.303, "env_step_avg_ms": 715.9, "video_write_s": 77.344, "video_write_avg_ms": 85.9, "wall_total_s": 883.217, "it_per_sec": 1.02}, "score": 0.0, "reason": "Condition not satisfied: object_grabbed(object=keyboard) (step 1/2)"} +{"env_name": "KeyboardOutOfBinTask", "task_name": "KeyboardOutOfBinTask", "run_name": "KeyboardOutOfBinTask_0", "run": 0, "episode": 2, "env_id": 2, "policy": "pi05", "instruction": "Take the keyboard out of the bin and put it on the table", "attributes": ["spatial", "simple"], "success": false, "episode_step": 900, "duration": 60.0, "dt": 0.06666666666666667, "metrics": {"ee_sparc": -8.459241253709095, "joint_sparc_mean": -11.918314099724128, "ee_isj": 983.5249425409651, "joint_isj": 63906.387491941714, "ee_path_length": 3.4157346448020554, "joint_rmse_mean": 0.022988990631349657, "ee_speed_max": 0.3076460063457489, "ee_speed_mean": 0.057416144758462906}, "events": {"GRIPPER_FULLY_CLOSED": 5, "TARGET_OBJECT_DROPPED": 1}, "instruction_type": "default", "timing": 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"episode_step": 900, "duration": 60.0, "dt": 0.06666666666666667, "metrics": {"ee_sparc": -6.981731028942263, "joint_sparc_mean": -8.608891832866515, "ee_isj": 925.4667650660435, "joint_isj": 43272.80680960518, "ee_path_length": 3.489759539217372, "joint_rmse_mean": 0.033619351488087215, "ee_speed_max": 0.27951595187187195, "ee_speed_mean": 0.05576126277446747}, "events": {"TARGET_OBJECT_DROPPED": 3, "GRIPPER_FULLY_CLOSED": 1}, "instruction_type": "default", "timing": {"policy_inference_s": 161.57, "policy_inference_avg_ms": 179.5, "env_step_s": 644.303, "env_step_avg_ms": 715.9, "video_write_s": 77.344, "video_write_avg_ms": 85.9, "wall_total_s": 883.217, "it_per_sec": 1.02}, "score": 0.0, "reason": "Condition not satisfied: object_grabbed(object=keyboard) (step 1/2)"} +{"env_name": "KeyboardOutOfBinTask", "task_name": "KeyboardOutOfBinTask", "run_name": "KeyboardOutOfBinTask_0", "run": 0, "episode": 9, "env_id": 9, "policy": "pi05", "instruction": "Take the keyboard out of the bin and put it on the table", "attributes": ["spatial", "simple"], "success": false, "episode_step": 900, "duration": 60.0, "dt": 0.06666666666666667, "metrics": {"ee_sparc": -11.598445240882462, "joint_sparc_mean": -16.012971990147836, "ee_isj": 158.03115066340195, "joint_isj": 6812.988525593022, "ee_path_length": 1.248012625939938, "joint_rmse_mean": 0.011919897635609399, "ee_speed_max": 0.2542355954647064, "ee_speed_mean": 0.020532269030809402}, "events": {"TARGET_OBJECT_DROPPED": 18}, "instruction_type": "default", "timing": {"policy_inference_s": 161.57, "policy_inference_avg_ms": 179.5, "env_step_s": 644.303, "env_step_avg_ms": 715.9, "video_write_s": 77.344, "video_write_avg_ms": 85.9, "wall_total_s": 883.217, "it_per_sec": 1.02}, "score": 0.0, "reason": "Condition not satisfied: object_grabbed(object=keyboard) (step 1/2)"} +{"env_name": "OneBottleOnShelfTask", "task_name": "OneBottleOnShelfTask", "run_name": "OneBottleOnShelfTask_0", "run": 0, "episode": 0, "env_id": 0, "policy": "pi05", "instruction": "Put any white plastic bottle on the shelf", "attributes": ["semantics", "simple"], "success": false, "episode_step": 900, "duration": 60.0, "dt": 0.06666666666666667, "metrics": {"ee_sparc": -6.914226571608513, "joint_sparc_mean": -9.486021775271515, "ee_isj": 1050.9802850285582, "joint_isj": 14359.508728321329, "ee_path_length": 4.6110536247286, "joint_rmse_mean": 0.020090992801984706, "ee_speed_max": 0.30004093050956726, "ee_speed_mean": 0.07143492251634598}, "events": {"OBJECT_BUMPED": 1, "GRIPPER_HIT_OBJECT": 1}, "instruction_type": "default", "timing": {"policy_inference_s": 164.674, "policy_inference_avg_ms": 183.0, "env_step_s": 461.344, "env_step_avg_ms": 512.6, "video_write_s": 78.84, "video_write_avg_ms": 87.6, "wall_total_s": 704.859, "it_per_sec": 1.28}, "score": 0.0, "reason": "No object completed. Best progress: object_grabbed(object=whitepackerbottle_a01) (step 1/2)"} +{"env_name": "OneBottleOnShelfTask", "task_name": "OneBottleOnShelfTask", "run_name": "OneBottleOnShelfTask_0", "run": 0, "episode": 1, "env_id": 1, "policy": "pi05", "instruction": "Put any white plastic bottle on the shelf", "attributes": ["semantics", "simple"], "success": false, "episode_step": 900, "duration": 60.0, "dt": 0.06666666666666667, "metrics": {"ee_sparc": -10.416067877070832, "joint_sparc_mean": -13.684388868291174, "ee_isj": 1286.5004362108627, "joint_isj": 16628.21936320829, "ee_path_length": 3.963281131025443, "joint_rmse_mean": 0.017707536581269268, "ee_speed_max": 0.3672739565372467, "ee_speed_mean": 0.06212165951728821}, "events": {}, "instruction_type": "default", "timing": {"policy_inference_s": 164.674, "policy_inference_avg_ms": 183.0, "env_step_s": 461.344, "env_step_avg_ms": 512.6, "video_write_s": 78.84, "video_write_avg_ms": 87.6, "wall_total_s": 704.859, "it_per_sec": 1.28}, "score": 0.0, "reason": "No object completed. Best progress: object_grabbed(object=whitepackerbottle_a01) (step 1/2)"} +{"env_name": "OneBottleOnShelfTask", "task_name": "OneBottleOnShelfTask", "run_name": "OneBottleOnShelfTask_0", "run": 0, "episode": 2, "env_id": 2, "policy": "pi05", "instruction": "Put any white plastic bottle on the shelf", "attributes": ["semantics", "simple"], "success": false, "episode_step": 900, "duration": 60.0, "dt": 0.06666666666666667, "metrics": {"ee_sparc": -10.080338696387985, "joint_sparc_mean": -13.344587980794884, "ee_isj": 1246.0727471541973, "joint_isj": 16489.93127917845, "ee_path_length": 3.7419301137865415, "joint_rmse_mean": 0.018225130046173404, "ee_speed_max": 0.2953817546367645, "ee_speed_mean": 0.05884409695863724}, "events": {"TARGET_OBJECT_DROPPED": 1}, "instruction_type": "default", "timing": {"policy_inference_s": 164.674, "policy_inference_avg_ms": 183.0, "env_step_s": 461.344, "env_step_avg_ms": 512.6, "video_write_s": 78.84, "video_write_avg_ms": 87.6, "wall_total_s": 704.859, "it_per_sec": 1.28}, "score": 0.0, "reason": "No object completed. Best progress: object_grabbed(object=whitepackerbottle_a01) (step 1/2)"} +{"env_name": "OneBottleOnShelfTask", "task_name": "OneBottleOnShelfTask", "run_name": "OneBottleOnShelfTask_0", "run": 0, "episode": 3, "env_id": 3, "policy": "pi05", "instruction": "Put any white plastic bottle on the shelf", "attributes": ["semantics", "simple"], "success": false, "episode_step": 900, "duration": 60.0, "dt": 0.06666666666666667, "metrics": {"ee_sparc": -7.165655279043987, "joint_sparc_mean": -9.935500962418729, "ee_isj": 1095.3654195113068, "joint_isj": 14828.354390268047, "ee_path_length": 4.102123853533234, "joint_rmse_mean": 0.019652054825938545, "ee_speed_max": 0.2545180022716522, "ee_speed_mean": 0.0646621510386467}, "events": {"TARGET_OBJECT_DROPPED": 4, "GRIPPER_FULLY_CLOSED": 1}, "instruction_type": "default", "timing": {"policy_inference_s": 164.674, "policy_inference_avg_ms": 183.0, "env_step_s": 461.344, "env_step_avg_ms": 512.6, "video_write_s": 78.84, "video_write_avg_ms": 87.6, "wall_total_s": 704.859, "it_per_sec": 1.28}, "score": 0.0, "reason": "No object completed. Best progress: object_grabbed(object=whitepackerbottle_a01) (step 1/2)"} +{"env_name": "OneBottleOnShelfTask", "task_name": "OneBottleOnShelfTask", "run_name": "OneBottleOnShelfTask_0", "run": 0, "episode": 4, "env_id": 4, "policy": "pi05", "instruction": "Put any white plastic bottle on the shelf", "attributes": ["semantics", "simple"], "success": false, "episode_step": 900, "duration": 60.0, "dt": 0.06666666666666667, "metrics": {"ee_sparc": -6.35081944417462, "joint_sparc_mean": -7.717716314297538, "ee_isj": 2424.714881647905, "joint_isj": 26787.56251957426, "ee_path_length": 6.169368586428254, "joint_rmse_mean": 0.02743059687247564, "ee_speed_max": 0.3979392349720001, "ee_speed_mean": 0.09696867316961288}, "events": {"GRIPPER_FULLY_CLOSED": 3, "TARGET_OBJECT_DROPPED": 3, "OBJECT_BUMPED": 1, "WRONG_OBJECT_GRABBED": 5, "GRIPPER_HIT_OBJECT": 1, "MULTIPLE_OBJECTS_GRABBED": 1, "wrong_objects_grabbed": ["utilityjug_a01", "utilityjug_a01", "utilityjug_a01", "utilityjug_a01", "utilityjug_a01"]}, "instruction_type": "default", "timing": {"policy_inference_s": 164.674, "policy_inference_avg_ms": 183.0, "env_step_s": 461.344, "env_step_avg_ms": 512.6, "video_write_s": 78.84, "video_write_avg_ms": 87.6, "wall_total_s": 704.859, "it_per_sec": 1.28}, "score": 0.0, "reason": "No object completed. Best progress: object_in_container(object=whitepackerbottle_a01, container=large_storage_rack, require_contact_with=False, require_gripper_detached=True) (step 2/2)"} +{"env_name": "OneBottleOnShelfTask", "task_name": "OneBottleOnShelfTask", "run_name": "OneBottleOnShelfTask_0", "run": 0, "episode": 5, "env_id": 5, "policy": "pi05", "instruction": "Put any white plastic bottle on the shelf", "attributes": ["semantics", "simple"], "success": false, "episode_step": 900, "duration": 60.0, "dt": 0.06666666666666667, "metrics": {"ee_sparc": -5.576353146740426, "joint_sparc_mean": -9.247077178000113, "ee_isj": 1060.2268293391407, "joint_isj": 13623.831691261872, "ee_path_length": 4.606139103349925, "joint_rmse_mean": 0.018846737846333422, "ee_speed_max": 0.26992714405059814, "ee_speed_mean": 0.07283033430576324}, "events": {"GRIPPER_FULLY_CLOSED": 1, "TARGET_OBJECT_DROPPED": 3}, "instruction_type": "default", "timing": {"policy_inference_s": 164.674, "policy_inference_avg_ms": 183.0, "env_step_s": 461.344, "env_step_avg_ms": 512.6, "video_write_s": 78.84, "video_write_avg_ms": 87.6, "wall_total_s": 704.859, "it_per_sec": 1.28}, "score": 0.0, "reason": "No object completed. Best progress: object_grabbed(object=whitepackerbottle_a01) (step 1/2)"} +{"env_name": "OneBottleOnShelfTask", "task_name": "OneBottleOnShelfTask", "run_name": "OneBottleOnShelfTask_0", "run": 0, "episode": 6, "env_id": 6, "policy": "pi05", "instruction": "Put any white plastic bottle on the shelf", "attributes": ["semantics", "simple"], "success": false, "episode_step": 900, "duration": 60.0, "dt": 0.06666666666666667, "metrics": {"ee_sparc": -7.108917265244084, "joint_sparc_mean": -11.333561783908278, "ee_isj": 692.1201772087985, "joint_isj": 17951.091520259197, "ee_path_length": 3.8265552659019764, "joint_rmse_mean": 0.019044859302695973, "ee_speed_max": 0.31438004970550537, "ee_speed_mean": 0.05961872637271881}, "events": {"TARGET_OBJECT_DROPPED": 5, "GRIPPER_FULLY_CLOSED": 2, "OBJECT_BUMPED": 1, "GRIPPER_HIT_OBJECT": 1, "GRIPPER_HIT_TABLE": 5}, "instruction_type": "default", "timing": {"policy_inference_s": 164.674, "policy_inference_avg_ms": 183.0, "env_step_s": 461.344, "env_step_avg_ms": 512.6, "video_write_s": 78.84, "video_write_avg_ms": 87.6, "wall_total_s": 704.859, "it_per_sec": 1.28}, "score": 0.0, "reason": "No object completed. Best progress: object_grabbed(object=whitepackerbottle_a01) (step 1/2)"} +{"env_name": "OneBottleOnShelfTask", "task_name": "OneBottleOnShelfTask", "run_name": "OneBottleOnShelfTask_0", "run": 0, "episode": 7, "env_id": 7, "policy": "pi05", "instruction": "Put any white plastic bottle on the shelf", "attributes": ["semantics", "simple"], "success": false, "episode_step": 900, "duration": 60.0, "dt": 0.06666666666666667, "metrics": {"ee_sparc": -6.345671347049819, "joint_sparc_mean": -11.201583533900784, "ee_isj": 756.1103817828075, "joint_isj": 11930.041599517634, "ee_path_length": 3.886838677397308, "joint_rmse_mean": 0.019619968520324584, "ee_speed_max": 0.23938216269016266, "ee_speed_mean": 0.06069764494895935}, "events": {"TARGET_OBJECT_DROPPED": 6, "GRIPPER_FULLY_CLOSED": 2, "GRIPPER_HIT_OBJECT": 1, "OBJECT_BUMPED": 2}, "instruction_type": "default", "timing": {"policy_inference_s": 164.674, "policy_inference_avg_ms": 183.0, "env_step_s": 461.344, "env_step_avg_ms": 512.6, "video_write_s": 78.84, "video_write_avg_ms": 87.6, "wall_total_s": 704.859, "it_per_sec": 1.28}, "score": 0.0, "reason": "No object completed. Best progress: object_grabbed(object=whitepackerbottle_a01) (step 1/2)"} +{"env_name": "OneBottleOnShelfTask", "task_name": "OneBottleOnShelfTask", "run_name": "OneBottleOnShelfTask_0", "run": 0, "episode": 8, "env_id": 8, "policy": "pi05", "instruction": "Put any white plastic bottle on the shelf", "attributes": ["semantics", "simple"], "success": false, "episode_step": 900, "duration": 60.0, "dt": 0.06666666666666667, "metrics": {"ee_sparc": -5.799999629049676, "joint_sparc_mean": -11.455964943006352, "ee_isj": 699.7606377517312, "joint_isj": 15945.106173321268, "ee_path_length": 4.302936274229628, "joint_rmse_mean": 0.021874128632364657, "ee_speed_max": 0.3007264733314514, "ee_speed_mean": 0.06744639575481415}, "events": {"WRONG_OBJECT_GRABBED": 3, "GRIPPER_HIT_OBJECT": 1, "MULTIPLE_OBJECTS_GRABBED": 1, "TARGET_OBJECT_DROPPED": 5, "OBJECT_BUMPED": 3, "GRIPPER_FULLY_CLOSED": 3, "wrong_objects_grabbed": ["utilityjug_a01", "utilityjug_a01", "utilityjug_a01"]}, "instruction_type": "default", "timing": {"policy_inference_s": 164.674, "policy_inference_avg_ms": 183.0, "env_step_s": 461.344, "env_step_avg_ms": 512.6, "video_write_s": 78.84, "video_write_avg_ms": 87.6, "wall_total_s": 704.859, "it_per_sec": 1.28}, "score": 0.0, "reason": "No object completed. Best progress: object_grabbed(object=whitepackerbottle_a01) (step 1/2)"} +{"env_name": "OneBottleOnShelfTask", "task_name": "OneBottleOnShelfTask", "run_name": "OneBottleOnShelfTask_0", "run": 0, "episode": 9, "env_id": 9, "policy": "pi05", "instruction": "Put any white plastic bottle on the shelf", "attributes": ["semantics", "simple"], "success": false, "episode_step": 900, "duration": 60.0, "dt": 0.06666666666666667, "metrics": {"ee_sparc": -5.869064448075402, "joint_sparc_mean": -8.568746196045309, "ee_isj": 1818.436084344062, "joint_isj": 19384.83093648674, "ee_path_length": 5.85254048499583, "joint_rmse_mean": 0.02151179234380024, "ee_speed_max": 0.35155484080314636, "ee_speed_mean": 0.09207509458065033}, "events": {"GRIPPER_FULLY_CLOSED": 2, "TARGET_OBJECT_DROPPED": 2}, "instruction_type": "default", "timing": {"policy_inference_s": 164.674, "policy_inference_avg_ms": 183.0, "env_step_s": 461.344, "env_step_avg_ms": 512.6, "video_write_s": 78.84, "video_write_avg_ms": 87.6, "wall_total_s": 704.859, "it_per_sec": 1.28}, "score": 0.0, "reason": "No object completed. Best progress: object_grabbed(object=whitepackerbottle_a01) (step 1/2)"} +{"env_name": "PinkSpoonInPotTask", "task_name": "PinkSpoonInPotTask", "run_name": "PinkSpoonInPotTask_0", "run": 0, "episode": 0, "env_id": 0, "policy": "pi05", "instruction": "Put the pink spaghetti spoon in the pot", "attributes": ["color", "affordance", "moderate"], "success": true, "episode_step": 329, "duration": 21.933333333333334, "dt": 0.06666666666666667, "metrics": {"ee_sparc": -5.121001512117095, "joint_sparc_mean": -6.809362456496202, "ee_isj": 212.69662816108263, "joint_isj": 16456.551626712426, "ee_path_length": 1.3299759087630396, "joint_rmse_mean": 0.02024892613872539, "ee_speed_max": 0.24613197147846222, "ee_speed_mean": 0.05982982739806175}, "events": {"GRIPPER_FULLY_CLOSED": 2, "GRIPPER_HIT_TABLE": 1, "TARGET_OBJECT_DROPPED": 1}, "instruction_type": "default", "timing": {"policy_inference_s": 158.887, "policy_inference_avg_ms": 176.5, "env_step_s": 680.588, "env_step_avg_ms": 756.2, "video_write_s": 87.939, "video_write_avg_ms": 97.7, "wall_total_s": 927.414, "it_per_sec": 0.97}, "score": 1.0, "reason": "Completed subtask 'pick_and_place' 1/1"} +{"env_name": "PinkSpoonInPotTask", "task_name": "PinkSpoonInPotTask", "run_name": "PinkSpoonInPotTask_0", "run": 0, "episode": 1, "env_id": 1, "policy": "pi05", "instruction": "Put the pink spaghetti spoon in the pot", "attributes": ["color", "affordance", "moderate"], "success": false, "episode_step": 900, "duration": 60.0, "dt": 0.06666666666666667, "metrics": {"ee_sparc": -8.370542758407737, "joint_sparc_mean": -12.9642882435091, "ee_isj": 606.9035663734346, "joint_isj": 19481.831853491316, "ee_path_length": 2.9278735685479074, "joint_rmse_mean": 0.016881957910236795, "ee_speed_max": 0.21866492927074432, "ee_speed_mean": 0.04824141785502434}, "events": {"WRONG_OBJECT_GRABBED": 1, "GRIPPER_FULLY_CLOSED": 5, "GRIPPER_HIT_OBJECT": 1, "OBJECT_BUMPED": 1, "TARGET_OBJECT_DROPPED": 15, "GRIPPER_HIT_TABLE": 3, "wrong_objects_grabbed": ["ladle_01"]}, "instruction_type": "default", "timing": {"policy_inference_s": 158.887, "policy_inference_avg_ms": 176.5, "env_step_s": 680.588, "env_step_avg_ms": 756.2, "video_write_s": 87.939, "video_write_avg_ms": 97.7, "wall_total_s": 927.414, "it_per_sec": 0.97}, "score": 0.0, "reason": "Condition not satisfied: object_in_container(object=pink_spaghetti_spoon, container=anza_medium, require_contact_with=False, require_gripper_detached=True) (step 2/2)"} +{"env_name": "PinkSpoonInPotTask", "task_name": "PinkSpoonInPotTask", "run_name": "PinkSpoonInPotTask_0", "run": 0, "episode": 2, "env_id": 2, "policy": "pi05", "instruction": "Put the pink spaghetti spoon in the pot", "attributes": ["color", "affordance", "moderate"], "success": false, "episode_step": 900, "duration": 60.0, "dt": 0.06666666666666667, "metrics": {"ee_sparc": -4.997215353040758, "joint_sparc_mean": -10.002281974523774, "ee_isj": 769.1739181662496, "joint_isj": 186522.3018815326, "ee_path_length": 3.9347215248937144, "joint_rmse_mean": 0.025591008202071903, "ee_speed_max": 0.31767067313194275, "ee_speed_mean": 0.06515590101480484}, "events": {"GRIPPER_FULLY_CLOSED": 8, "WRONG_OBJECT_GRABBED": 1, "GRIPPER_HIT_OBJECT": 1, "OBJECT_BUMPED": 5, "GRIPPER_HIT_TABLE": 3, "TARGET_OBJECT_DROPPED": 4, "wrong_objects_grabbed": ["ladle_01"]}, "instruction_type": "default", "timing": {"policy_inference_s": 158.887, "policy_inference_avg_ms": 176.5, "env_step_s": 680.588, "env_step_avg_ms": 756.2, "video_write_s": 87.939, "video_write_avg_ms": 97.7, "wall_total_s": 927.414, "it_per_sec": 0.97}, "score": 0.0, "reason": "Condition not satisfied: object_grabbed(object=pink_spaghetti_spoon) (step 1/2)"} +{"env_name": "PinkSpoonInPotTask", "task_name": "PinkSpoonInPotTask", "run_name": "PinkSpoonInPotTask_0", "run": 0, "episode": 3, "env_id": 3, "policy": "pi05", "instruction": "Put the pink spaghetti spoon in the pot", "attributes": ["color", "affordance", "moderate"], "success": 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